diff options
Diffstat (limited to 'examples/Importers/ImportURDFDemo/UrdfParser.cpp')
| -rw-r--r-- | examples/Importers/ImportURDFDemo/UrdfParser.cpp | 174 |
1 files changed, 1 insertions, 173 deletions
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index aea391592..96f7538a2 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -1282,171 +1282,6 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, return true; } -bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger) -{ - UrdfReducedDeformable& reduced_deformable = model.m_reducedDeformable; - const char* name = config->Attribute("name"); - if (!name) - { - logger->reportError("Reduced deformable with no name"); - return false; - } - reduced_deformable.m_name = name; - - { - XMLElement* numModes_xml = config->FirstChildElement("num_modes"); - if (numModes_xml) - { - if (!numModes_xml->Attribute("value")) - { - logger->reportError("numModes_xml element must have value attribute"); - return false; - } - reduced_deformable.m_numModes = urdfLexicalCast<double>(numModes_xml->Attribute("value")); - } - } - - { - XMLElement* mass_xml = config->FirstChildElement("mass"); - if (mass_xml) - { - if (!mass_xml->Attribute("value")) - { - logger->reportError("mass_xml element must have value attribute"); - return false; - } - reduced_deformable.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value")); - } - } - - { - XMLElement* stiffnessScale_xml = config->FirstChildElement("stiffness_scale"); - if (stiffnessScale_xml) - { - if (!stiffnessScale_xml->Attribute("value")) - { - logger->reportError("stiffnessScale_xml element must have value attribute"); - return false; - } - reduced_deformable.m_stiffnessScale = urdfLexicalCast<double>(stiffnessScale_xml->Attribute("value")); - } - } - - { - XMLElement* collisionMargin_xml = config->FirstChildElement("collision_margin"); - if (collisionMargin_xml) - { - if (!collisionMargin_xml->Attribute("value")) - { - logger->reportError("collision_margin element must have value attribute"); - return false; - } - reduced_deformable.m_collisionMargin = urdfLexicalCast<double>(collisionMargin_xml->Attribute("value")); - } - } - - { - XMLElement* erp_xml = config->FirstChildElement("erp"); - if (erp_xml) - { - if (!erp_xml->Attribute("value")) - { - logger->reportError("friction element must have value attribute"); - return false; - } - reduced_deformable.m_erp = urdfLexicalCast<double>(erp_xml->Attribute("value")); - } - } - - { - XMLElement* cfm_xml = config->FirstChildElement("cfm"); - if (cfm_xml) - { - if (!cfm_xml->Attribute("value")) - { - logger->reportError("cfm element must have value attribute"); - return false; - } - reduced_deformable.m_cfm = urdfLexicalCast<double>(cfm_xml->Attribute("value")); - } - } - - { - XMLElement* damping_xml = config->FirstChildElement("damping_coefficient"); - if (damping_xml) - { - if (!damping_xml->Attribute("value")) - { - logger->reportError("damping_coefficient element must have value attribute"); - return false; - } - reduced_deformable.m_damping = urdfLexicalCast<double>(damping_xml->Attribute("value")); - } - } - - { - XMLElement* friction_xml = config->FirstChildElement("friction"); - if (friction_xml) - { - if (!friction_xml->Attribute("value")) - { - logger->reportError("friction element must have value attribute"); - return false; - } - reduced_deformable.m_friction = urdfLexicalCast<double>(friction_xml->Attribute("value")); - } - } - - XMLElement* vis_xml = config->FirstChildElement("visual"); - if (!vis_xml) - { - logger->reportError("expected an visual element"); - return false; - } - if (!vis_xml->Attribute("filename")) - { - logger->reportError("expected a filename for visual geometry"); - return false; - } - std::string fn = vis_xml->Attribute("filename"); - reduced_deformable.m_visualFileName = fn; - - int out_type(0); - bool success = UrdfFindMeshFile(m_fileIO, - model.m_sourceFile, fn, sourceFileLocation(vis_xml), - &reduced_deformable.m_visualFileName, &out_type); - - if (!success) - { - // warning already printed - return false; - } - - // collision mesh is optional - XMLElement* col_xml = config->FirstChildElement("collision"); - if (col_xml) - { - if (!col_xml->Attribute("filename")) - { - logger->reportError("expected a filename for collision geoemtry"); - return false; - } - fn = col_xml->Attribute("filename"); - success = UrdfFindMeshFile(m_fileIO, - model.m_sourceFile, fn, sourceFileLocation(col_xml), - &reduced_deformable.m_simFileName, &out_type); - - if (!success) - { - // warning already printed - return false; - } - } - - ParseUserData(config, reduced_deformable.m_userData, logger); - return true; -} - bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger) { joint.m_lowerLimit = 0.f; @@ -2291,16 +2126,9 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF // logger->printMessage(msg); - - XMLElement* reduced_deformable_xml = robot_xml->FirstChildElement("reduced_deformable"); - if (reduced_deformable_xml) { - return parseReducedDeformable(m_urdf2Model, reduced_deformable_xml, logger); - } - XMLElement* deformable_xml = robot_xml->FirstChildElement("deformable"); - if (deformable_xml) { + if(deformable_xml) return parseDeformable(m_urdf2Model, deformable_xml, logger); - } for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link")) { |